[openrtm-commit:01798] r790 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 3月 3日 (木) 02:15:35 JST
Author: win-ei
Date: 2016-03-03 02:15:35 +0900 (Thu, 03 Mar 2016)
New Revision: 790
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
Log:
Added publishPorts() and subscribePorts(). Not implemented yet.. refs #3391
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-03-02 14:38:56 UTC (rev 789)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-03-02 17:15:35 UTC (rev 790)
@@ -22,6 +22,7 @@
import jp.go.aist.rtm.RTC.executionContext.PeriodicECSharedComposite;
import jp.go.aist.rtm.RTC.executionContext.PeriodicExecutionContext;
import jp.go.aist.rtm.RTC.log.Logbuf;
+import jp.go.aist.rtm.RTC.port.PortBase;
import jp.go.aist.rtm.RTC.util.CallbackFunction;
import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;
import jp.go.aist.rtm.RTC.util.IiopAddressComp;
@@ -368,7 +369,6 @@
* void publishPorts(RTObject_impl* comp)
*/
public void publishPorts(RTObject_impl comp){
-/*
//PortServiceListHolder ports = new PortServiceListHolder();
PortService[] ports = comp.get_ports();
for(int ic=0;ic<ports.length;++ic){
@@ -393,36 +393,41 @@
continue;
}
String name = new String();
- if(prop.getProperty("port.port_type").equals("DataOutPort"){
- name = "dataports.port_cxt/"
- name += prop.getProperty("publish_topic") + ".topic_cxt/"
- name += prof.name
- name += ".outport"
+ if(prop.getProperty("port.port_type").equals("DataOutPort")){
+ name = "dataports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt/";
+ name += prof.name;
+ name += ".outport";
}
- else if(prop.getProperty("port.port_type").equals("DataInPort"){
- name = "dataports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
- name += prof.name
- name += ".inport"
+ else if(prop.getProperty("port.port_type").equals("DataInPort")){
+ name = "dataports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt/";
+ name += prof.name;
+ name += ".inport";
}
- else if(prop.getProperty("port.port_type").equals("CorbaPort"){
- name = "svcports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
- name += prof.name
- name += ".svc"
+ else if(prop.getProperty("port.port_type").equals("CorbaPort")){
+ name = "svcports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt/";
+ name += prof.name;
+ name += ".svc";
}
else{
rtcout.println(Logbuf.WARN,
"Unknown port type: "+prop.getProperty("port.port_type"));
- continue
+ continue;
}
- POA poa = Manager.instance().getPOA();
- PortBase port = (PortBase)(poa.reference_to_servant(ports[ic]));
+ try {
+ POA poa = Manager.instance().getPOA();
+ PortBase port = (PortBase)(poa.reference_to_servant(ports[ic]));
-// m_namingManager.bindPortObject(name, comp);
+ m_namingManager.bindPortObject(name, port);
+ }
+ catch (Exception e) {
+ rtcout.println(Logbuf.DEBUG,
+ "Peer port might be a remote port.");
+ }
}
-*/
/*
for p in ports{
prof = p.get_port_profile()
@@ -478,21 +483,51 @@
* # void subscribePorts(RTObject_impl* comp)
*/
public void subscribePorts(RTObject_impl comp){
-/*
- ports = comp.get_ports();
+ PortService[] ports = comp.get_ports();
- foro(int ic=0; ic<ports.length; ++ic ){
+ for(int ic=0; ic<ports.length; ++ic ){
+ PortProfile prof = ports[ic].get_port_profile();
+ NVListHolder nvholder =
+ new NVListHolder(prof.properties);
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
- prof = p.get_port_profile()
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
-
- if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))){
- continue
- }
-
-
-
+ if(
+ ( prop.hasKey("publish_topic")==null ||
+ prop.getProperty("publish_topic")!=null )
+ &&
+ ( prop.hasKey("subscribe_topic")==null ||
+ prop.getProperty("subscribe_topic")!=null )
+ &&
+ ( prop.hasKey("rendezvous_point")==null ||
+ prop.getProperty("rendezvous_point")!=null )
+ ){
+
+
+ continue;
+ }
+ PortService[] nsports;
+ String name = new String();
+ if(prop.getProperty("port.port_type").equals("DataOutPort")){
+ name = "dataports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt";
+ nsports = getPortsOnNameServers(name, "inport");
+
+ //connectDataPorts(ports[ic], nsports);
+ }
+ else if(prop.getProperty("port.port_type").equals("DataInPort")){
+ name = "dataports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt";
+ nsports = getPortsOnNameServers(name, "outport");
+ //connectDataPorts(ports[ic], nsports);
+ }
+ else if(prop.getProperty("port.port_type").equals("CorbaPort")){
+ name = "svcports.port_cxt/";
+ name += prop.getProperty("publish_topic") + ".topic_cxt";
+ nsports = getPortsOnNameServers(name, "svc");
+ //connectServicePorts(ports[ic], nsports);
+ }
+/*
if prop.getProperty("port.port_type") == "DataOutPort"{
name = "dataports.port_cxt/"
name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
@@ -513,9 +548,73 @@
nsports = self.getPortsOnNameServers(name, "svc")
self.connectServicePorts(p, nsports)
}
+*/
}
+ }
+ /**
+ *
+ * {@.ja 与えられたパス以下の指定されたkindのポートを取得する}
+ * {@.en Gets specified ports from the path.}
+ * @brief
+ *
+ * @param nsname
+ * {@.ja パス}
+ * {@.en path}
+ }
+ * @param kind
+ * {@.ja kind}
+ * {@.en kind}
+ *
+ * @return
+ * {@.ja ポートのオブジェクトリファレンスのリスト}
+ * {@.en List of port objects}
+ *
+ * PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)
+ */
+ public PortService[] getPortsOnNameServers(String nsname, String kind){
+/*
+ PortService[] ports;
+ NameService[] ns = m_namingManager.getNameServices();
+ for n in ns{
+ noc = n.ns;
+ if noc is None{
+ continue
+ }
+ cns = noc._cosnaming
+ if cns is None{
+ continue
+ }
+ bl = cns.listByKind(nsname,kind)
+
+ for b in bl{
+ if b.binding_type != CosNaming.nobject{
+ continue
+ }
+ tmp = b.binding_name[0].id + "." + b.binding_name[0].kind
+
+ nspath = "/" + nsname + "/" + tmp
+ nspath.replace("\\","")
+
+ obj = cns.resolveStr(nspath)
+ portsvc = obj
+
+ if CORBA.is_nil(portsvc){
+ continue
+ }
+ try{
+ p = portsvc.get_port_profile()
+ }
+ except{
+ continue
+ }
+ ports.append(portsvc)
+ }
+ }
+ return ports
*/
+ return null;
}
+
/**
*
* {@ja NamingManagerを取得する}
@@ -1730,7 +1829,7 @@
}
m_listeners.naming_.postBind(comp,names);
- publishPorts(comp);
+ //publishPorts(comp);
subscribePorts(comp);
return true;
More information about the openrtm-commit
mailing list